Firearm usage monitoring system

ABSTRACT

A firearm usage monitoring system configured to store data about location, movement, orientation, and direction of a firearm while in use and includes a hard-wired data and power connection, configured to receive data and power from a wired source. A UART to USB controller is communicatively coupled to the data and power connection and configured to send data to and receive data from the data and power connection. A microprocessor sends data to and receives data from the UART to USB controller. A motion monitor is communicatively coupled to the microprocessor module further comprising a gyroscope, an accelerometer and a compass configured to communicate data about movement, orientation, and direction of the firearm. Memory is communicatively coupled to the microprocessor and the motion monitor. Data about the location and position of the firearm in 3D space is transmitted from the motion monitor and GPS and then stored in the memory.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a bypass continuation of International PatentApplication No. PCT/US2018/015614, filed Jan. 27, 2018, which claims thebenefit of U.S. Provisional Patent Application Ser. No. 62/451,620,filed Jan. 27, 2017, which is a continuation-in-part of U.S. patentapplication Ser. No. 14/666,008, filed on Mar. 23, 2015, which claimspriority to U.S. Provisional Patent Application Ser. No. 61/969,009,filed on Mar. 21, 2014. Each of the above-identified applications ishereby incorporated by reference in its entirety.

BACKGROUND

Typically, firearm tracking systems have been very limited, oftenrequiring complex manufacturing steps in order to enable a determinationof whether a weapon has been used. These systems typically have issueswith reliability, have poor performance (e.g., short battery life), lackthe ability to add new features, and suffer other limitations.

The use of excessive force continues to be reported by the mainstreammedia and news, increasing the need for transparency and objective datacollection. With the rise of smartphones and video recording, acts ofviolence are being documented and displayed instantly to millions ofviewers. Police managers are often unable to prove a statement untilhours or days after an incident, at which time many citizens havealready drawn conclusions of the incident. This can lead to policemistrust and a call for accountability. Federal mandates have beenissued in an effort to reestablish trust among the community and ensurethat justice is served resulting in increased body camera adoptionrates. Several issues have arisen with the use of body cameras, however,not only are body cameras expensive, officers have reported issues withfunctionality (e.g., they tend to fall off), and they have notoriouslybeen known to fail to record when an incident occurs. This can forcemanagement and officers to return to self-reporting, which is a methodentirely reliant on the individual. Uses of lethal force have also beenknown to go unreported, even when there is a loss of life. These issuesand the lack of transparency provide an opening for a technologicalsolution. Despite these issues, parties that use firearms, such aspolice (and other first responders), soldiers, security personnel, andothers, are increasingly equipped with body cameras and other systemsfor tracking their locations and recording their activities, such asbody cameras and other cameras and sensors that are installed in variouslocations throughout municipalities. The information collected can beused by dispatchers, command personnel, supervisors, investigators,insurers, risk managers, underwriters, and various other parties, suchas to direct activities, provide forensic analysis, provide evidence,assist with training and risk management, assist with underwritinginsurance policies, and many other purposes. However, body cameras aresubject to significant limitations, including difficulty storing enoughdata and significant expenses involved in transmitting data from acamera over a network. Accordingly, a need exists for improved systemsthat involve recording and tracking activities of individuals, includingmore advanced methods and systems for tracking discharges from firearmsand more advanced methods for taking advantage of available recordingsystems, such as body cameras.

SUMMARY

A firearm usage monitoring system is configured to store data aboutlocation, movement, orientation, and direction of a firearm while in useand includes a hard-wired data and power connection, configured toreceive data and power from a wired source. A UART to USB controller iscommunicatively coupled to the hard-wired data and power connection andconfigured to send data to and receive data from the hard-wired data andpower connection. A microprocessor is configured to send data to andreceive data from the UART to USB controller. A nine-axis motion monitoris communicatively coupled to the microprocessor module furthercomprising a tri-axis gyroscope, a tri-axis accelerometer and a tri-axiscompass configured to communicate data about movement, orientation, anddirection of the firearm. Memory is communicatively coupled to themicroprocessor and to the nine-axis motion monitor. Data about thelocation and position of the firearm in 3D space is transmitted from thenine-axis motion monitor and GPS and then stored in the memory.

In embodiments, a firearms activity monitoring system is provided,comprising a series of ruggedized sensors, configured to be built intothe grips of a firearm, dedicated to providing real-time firearmsactivity monitoring, including firearm location, orientation, anddischarge monitoring. In embodiments, the system is an “install andforget” device, independent of the firing mechanism (that is, in suchembodiments, the system does not prevent discharges), that collectsobjective data on firearms usage and orientation. In turn, the datacollected has a host of applications among security forces, ranging fromaugmenting critical first response systems to minimizing response timesand improving situational awareness, to machine learning in automatingradio transmissions and predictive firearm maintenance. Inventorycontrol and firearms accountability are also possibilities with thispotentially life-saving technology. This device brings theInternet-of-Things (IoT) into the world of firearms. In embodiments, afirearms activity monitoring system may be combined with otherfunctionality that may prevent discharges through methods such astrigger locks, barrel blocks, etc. and require user identification suchas biometric fingerprint scanners, palm recognition, and RFID scanners

The firearms activity monitoring system allows various parties, such asmanagers and supervisors, to collect objective, rather than subjective,firearms data. This allows better oversight and accountability of allfirearms usage. This includes the capability of the technology to reportinformation in real-time, allowing the rapid use of the collectedinformation, such as for situational awareness and rapid response tocritical situations. By collecting real-time firearms data, managers,dispatchers, and the like can respond more efficiently to incidents andalso provide accurate reporting of information after an incidentinvolving a firearm.

As noted above, the expensive price tag associated with hardware,storage, and data transmission fees has resulted in identification ofcost as a problem with other monitoring systems like body cameras thathave been adopted due to public pressure. The firearm monitoring systemsdisclosed herein augment other systems like body cameras and can rendersuch systems much more cost-effective.

As noted above, for insurance companies, firearms used by the clientrepresent a liability. In embodiments, data from the firearm monitoringsystem may be used to help companies that provide insurance (such as toprivate security firms); for example, it may be possible to negotiate alower insurance premium as a result of using a monitoring system thatdemonstrates effectiveness and completion of training, adherence to safepractices, and the like by the personnel of the insured. With a devicethat increases accountability and inventory management, the risks andcosts associated with insuring security firms decreases, therebycreating cost savings for both insurance companies and security firms.

In embodiments, the present disclosure includes a system for monitoringa user of a firearm. The system includes an inertial measurement unitconfigured to be disposed inside a grip of the firearm for measuring themotion of the firearm. The system also includes an event detectionsystem for detecting a detected event that includes at least one ofgripping of the firearm, raising of the firearm, aiming of the firearm,and discharging of the firearm based on the motion of the firearm asmeasured by the inertial measurement unit. The system further includes acommunication system for wirelessly communicating the detected event.

In embodiments, the detected event is communicated to a camera system.

In embodiments, the camera system includes a camera located insufficient proximity to view the firearm.

In embodiments, the camera system includes a body camera system worn bythe user of the firearm.

In embodiments, the body camera initiates recording upon receiving thecommunication of the detected event.

In embodiments, the body camera initiates recording upon the firearmbeing at least one of gripped, raised and aimed.

In embodiments, the event detection system and the communication systemare configured to be disposed inside the grip of the firearm.

In embodiments, the inertial measurement unit is configured to counteach discharge of the firearm.

In embodiments, the system of the present disclosure includes a firearmusage tracking system configured to detect the firearm being pointedtoward another firearm or a user in conjunction with supporting systems.

In embodiments, the system of the present disclosure includes a firearmusage tracking system configured to detect the firearm and at leastanother firearm and configured to visually display locations of the atleast two firearms.

In embodiments, the system of the present disclosure includes a firearmusage tracking system configured to detect a set of firearms in aninventory, to count each discharge of each of the firearms in the set offirearms, and to communicate total discharges from each of the firearms.

In embodiments, the system of the present disclosure includes a firearmusage tracking system configured to detect a set of firearms in aninventory across a mesh network and to determine a location of a firstfirearm from the set of firearms based on a detected location of atleast a second firearm in the set of firearms.

In embodiments, the present disclosure includes a firearm usagemonitoring system configured to store data about movement of a firearmby a user. The system includes a grip on the firearm that is configuredto be held by a hand of the user and permit the hand of the user to alsoreach a trigger of the firearm. The system also includes a nine-axismotion monitor including a microprocessor, a tri-axis gyroscope, atri-axis accelerometer and a tri-axis compass configured to communicatedata about movement, orientation, and direction of the firearm. Thesystem further includes memory communicatively coupled to themicroprocessor and to the nine-axis motion monitor and a GPS moduleconnected to the microprocessor and the memory. In embodiments, dataabout the position of the firearm is transmitted from the nine-axismotion monitor and the GPS module and stored in the memory. Inembodiments, the nine-axis motion monitor, the microprocessor, thememory, and the GPS module are configured to be disposed inside a gripof the firearm.

In embodiments, the grip on the firearm is configured to be held by thehand of the user and permit the hand of the user to also reach a safetyof the firearm.

In embodiments, the system of the present disclosure includes ahard-wired data and power connection configured to receive data andpower from a wired source.

In embodiments, the system of the present disclosure includes a UART toUSB controller communicatively coupled to the hard-wired data and powerconnection and configured to send data to and receive data from thehard-wired data and power connection. In embodiments, the microprocessoris configured to send data to and receive data from the UART to USBcontroller.

In embodiments, the system of the present disclosure includes a lowdropout regulator electrically coupled to a battery and the UART to USBcontroller. In embodiments, the low dropout regulator steps down voltagefrom the battery to more efficiently power the UART to USB controller.

In embodiments, the system of the present disclosure includes a camerasystem that includes a body camera that is activated when there is achange in position of the firearm transmitted from one of the nine-axismotion monitor and the GPS module.

In embodiments, the present disclosure includes a system for monitoringfirearms in a set of the firearms. Each of the firearms is associatedwith a user in a set of users. The system includes a machine learningsystem and a sensory analysis module that connects to the machinelearning system and is configured to receive multi-modal sensory inputsfrom firearm usage tracking systems associated with the firearms,sensors that detect the users, and sensors that detect an environmentaround the set of firearms and the set of users. The system includes aset of candidate intents generated by the machine learning system basedat least a portion of the multi-modal sensory inputs. The system alsoincludes an action plan based on the set of candidate intents generatedby the machine learning system. In embodiments, the action plan is inresponse to at least one of a change in condition of one of the users ofthe firearms, change of state of one of the firearms from the set offirearms, a change of environment around the firearms.

In embodiments, the machine learning system is configured to determinethat one of the users from the set of users is in distress based atleast one sensor detecting human states of the user indicative ofdistress and at least one firearm sensor that detects motion andorientation of the firearm indicative of lack of discharge for apredetermined period. In embodiments, the action plan from the machinelearning system is configured to request assistance for the user indistress.

In embodiments, the machine learning system is configured to activatecamera systems in anticipation of an event based at least one sensordetecting human states of the user and at least one firearm sensor thatdetects motion and orientation of the firearm indicative of imminentdischarge of at least one firearm of the set of firearms.

In embodiments, the machine learning system is configured to generateinventory action plans detailing needs for ammunition in anticipation ofits consumption by the firearms from the set of firearms based oninertial monitoring units in each of the firearms that detects motionand orientation of the firearm to count each shot based on dischargesfrom the firearms of the set of firearms.

BRIEF DESCRIPTION OF THE FIGURES

The detailed description of some embodiments of the inventions is madebelow with reference to the accompanying figures, wherein like numeralsrepresent corresponding parts of the figures.

FIG. 1 is a bottom front perspective view of a firearm including afirearm usage monitoring system in accordance with the embodiments ofthe present disclosure.

FIG. 2 is a top rear perspective view of the firearm of FIG. 1.

FIG. 3 is an exploded view of the firearm of FIG. 1.

FIG. 4 is a perspective view of first and second grip panels of thefirearm and the firearm usage monitor in accordance with embodiments ofthe present disclosure.

FIG. 5 is an electrical schematic view of the firearm usage monitoringsystem in accordance with embodiments of the present disclosure.

FIG. 6 and FIG. 7 are schematic views of the firearm usage monitoringsystem in accordance with embodiments of the present disclosure.

FIGS. 8A, 8B, and 8C are diagrammatic views of various systemsub-components for the firearm usage monitoring system in accordancewith embodiments of the present disclosure.

FIG. 9 is a partial perspective view of a firearm including the firearmusage monitoring system in accordance with embodiments of the presentdisclosure.

FIG. 10A is a process view of a machine control system of the firearmusage monitoring system in accordance with embodiments of the presentdisclosure.

FIGS. 10B and 10C are diagrammatic views of various systemsub-components for the firearm usage monitoring system in accordancewith embodiments of the present disclosure.

DETAILED DESCRIPTION

By way of example, and referring to FIG. 1 through FIG. 4, embodimentsof the firearm usage monitoring system includes circuit board 10electrically coupled to battery 12 with connecting wire 22. Battery 12is electrically coupled to entry point 14. Entry point 14 is configuredto receive a hardwire connection for either electrical power or data.

Battery 12 is mounted into first grip panel 16. Circuit board 10 ismounted into second grip panel 18. First grip panel 16 can be joined tosecond grip panel 18 on firearm 20 to form grip 24. Grip 24 can containmagazine 28 that can contain rounds 30. Trigger 32 can be pulled aftersafety 34 is released to fire one of the rounds 30 with firearm 20.

Turning to FIG. 6, circuit board 10 can be designed at a high level withfunctionality have extended battery life and more detailed datarecording. The entry point 14 configured as a data connection point isshown here as a mini-B universal service bus (USB) connector 100. Whenconnected to a USB cable this is a hard wired data and power connection102. The mini-B USB connector 100 is electrically coupled to a USB toserial universal asynchronous receiver/transmitter (UART) controller104. This UART to USB controller 104 comprises an integrated modem withup to 3M Baud, a virtual communications (COM) port, and a +3.3V levelconverter that operates on 8 mA or so. For instance, the FT231Xintegrated circuit meets these specifications. In effect, the UART toUSB controller 104 provides functionality to update firmware in theremainder of the system providing for substantially greater upgrades andimprovements than other devices in this field. The UART to USBcontroller 104 is electrically coupled to a transmitter/receiver statuslight emitting diode (LED) 110 that indicates if a firmware update isoccurring.

A force sensor 120 electrically coupled to a first general purposeinput/output pin GPIO1 122. The force sensor 120 can be a resistivebased force sensor with a voltage divider for analog input. The forcesensor 120 will typically draw less than 1 mA of current from the UARTto USB controller 104. When force is imparted on the force sensor 120,the circuit board 10 can wake up and begin to operate (or operate beyondminimal operation). The force sensor 120 can be a force sensingresistor. For instance, the FSR 400 single zone force sensing resistormeets these requirements.

The UART to USB controller 104 is electrically coupled to a Bluetooth/uCModule 130. Bluetooth/uC Module 130 is configured to send data to andreceive data from the UART to USB controller 104. In some embodiments,Bluetooth/uC Module 130 can be an RFduino stand-alone board which has apowerful ARM Cortex processor and Bluetooth Low-Energy 4.0 built-in.This would typically consume 20 mA peak and 9 mA normal. It is equallypossible, that the Bluetooth/uC Module 130 can include two modules: amicroprocessor and a communication circuit which can be separated. Whilea Bluetooth communication circuit may be the easiest way to transmitdata, data can also be transmitted through the mini-B USB connector 100.Further, there is any number of possible wireless communication systemsthat could be used such as radio frequency, Wi-Fi, near fieldcommunication and others.

The Master Out Serial In (MOSI) pin GPIO 2 132 on the Bluetooth/uCModule 130, the Data Clock (SCK) pin GPIO 4 134, the Master In SerialOut (MISO) pin GPIO 3 138, and the CS-MPU pin GPI05 140 are electricallycoupled to the nine-axis motion monitor 142. The nine-axis motionmonitor 142 is configured to measure and transmit data about all of thepositioning of the circuit board 10 while in motion of any kind. In manyexamples, this can include a Tri-axis gyro up to 2000 dps, tri-axisaccelerometer up to 16 g, a tri-axis compass up to 4800 uT, andprogrammable interrupt. This would typically consume 4 mA. For instance,the MPU-9250 provides this functionality. In many examples, thistriparate functionality can be necessary to monitor exact orientationand track where the firearm travels in terms of rotation, speed, anddirection. In some cases, the tri-axis compass can be accomplished witha magnetometer. Recoil and/or shot count resulting from firearmdischarge can be identified from the gathered data.

MISO pin GPIO 3 138, SCK pin GPIO 4 134 and MOSI pin GPIO 2 132 arefurther electrically coupled to serial flash memory 150. In manyexamples, serial flash memory 150 should operate in double transfer rateor DTR mode in some cases a gigabyte of memory formed by 256 Mb die,with 100 k erase cycles per sector. This may draw 6 mA. The serial flashmemory 150 is further electrically coupled to CS-Flash pin GPIO 6 152 onthe Bluetooth/uC Module 130. For instance, N25Q00AA flash memory meetsthis requirement.

MISO pin GPIO 3 138, SCK pin GPIO 4 134 and MOSI pin GPIO 2 132 arefurther electrically coupled to a GPS Module 160. The GPS Module 160 isfurther electrically coupled to CS-GPS pin GPIO 7 162 on theBluetooth/uC Module 130. The GPS module 160 is configured to determineposition within 2.5 meters of accuracy with a 10 Hz update rate,internal real time clock, onboard read only memory, and −167 dBmsensitivity. This can operate continuously with a draw of 30 mAcontinuous and 7 mA while in power save mode (1 Hz). For instance, TheU-BLOX™ CAM-M8Q chip antenna module meets this requirement. There are alot of other kinds of GPS systems that could be equally acceptableincluding Glonass™, Beidou™, etc.

The mini-B USB connector 100 is electrically coupled to the UART to USBcontroller 104 for sending data D+ and receiving data D−, however, itdoes not operate on that voltage. Accordingly, circuit 10 needs to havea system that both rapidly charges the battery 12 and permits dataexchange. The mini-B USB connector is electrically coupled to a batterycharger 166. The battery charger 166 is electrically coupled to battery12 with a switch 168. The battery charger can be set to 500 mA andinclude a sense current, reverse discharge protection, and automaticallypower down. For instance, charger MCP73831 meets these requirements.

FIG. 6 indicates that a lithium polymer battery can be used, but otherkinds of batteries can be used as well. One battery 12 that could workwould provide 3.7V and have an 850 mAh capacity.

Notably, battery 12 is electrically coupled to a low dropout (LDO)regulator 170. The LDO regulator 170 steps down the voltage from 3.7V to3.3.V to provide power at a voltage that can be used by the UART to USBcontroller 104 and the Bluetooth/uC Module 130. The LDO regulator 170should provide 300 mA output, 270 mV dropout, output fixed at 3.3V,reverse battery protection, with no reverse current, and overcurrentprotection. For instance, LDO regulator LT1962 meets these requirements.However, the GPS module would typically operate at 3.7V.

FIG. 5 provides some guidance for wiring these components together.Battery connection PI 172 provides a battery voltage and is attached toground. Switch SI 174 toggles whether the battery voltage is sent to therest of the system. Battery charger U3 178 is connected to the battery12, and a voltage source and, when charging engages LED C2 180. LDOregulator U6 182 drops the battery voltage to 3.3V. Mini-B USBconnection J1 184 is joined for data purposes to UART to USB circuit U1188. UART to USB Circuit U1 188 receives data from Bluetooth uC/ModuleU4 190 which receives data from nine-axis motion monitor U7 192, serialflash memory U5 194 and GPS Module U2 198.

FIG. 7 conceptually illustrates an electronic system 200 with which someembodiments are implemented. The electronic system 200 may be acomputer, phone, PDA, or any other sort of electronic device. Such anelectronic system includes various types of computer readable media andinterfaces for various other types of computer readable media.Electronic system 200 includes a bus 205, processing unit(s) 210, asystem memory 215, a read-only 220, a permanent storage device 225,input devices 230, output devices 235, and a network 240.

FIG. 8 illustrates a schematic layout of the main components for afirearms monitoring system 800, including an inertial monitoring unitincluding gyro/accelerometer 802, GPS 804, force connector 808, powerinput 810, battery charger 812, laser 814, regulator 818, USB connector820, flash memory 822, Bluetooth™ 824, programmable hardware 828, andthe like.

FIG. 9 illustrates a view of the firearm monitoring system 800integrated into a grip 900 of a weapon 902. A circuit 908 board havingone or combinations of the components illustrated in FIG. 8 is disposedwithin the grip 900 of the weapon 902 and is integrated so that it isalmost invisible to the user, other than the presence of USB ports 904that are covered by the hand of the user when the weapon is gripped.

With reference to FIG. 7, the bus 205 collectively represents allsystem, peripheral, and chipset buses that communicatively connect thenumerous internal devices of the electronic system 200. For instance,the bus 205 communicatively connects the processing unit(s) 210 with theread-only 220, the system memory 215, and the permanent storage device225. From these various memory units, the processing unit(s) 210retrieves instructions to execute and data to process in order toexecute the many processes disclosed herein. The processing unit(s) maybe a single processor or a multi-core processor in differentembodiments.

The read-only-memory (ROM) 220 stores static data and instructions thatare needed by the processing unit(s) 210 and other modules of theelectronic system 200. The permanent storage device 225, on the otherhand, is a read-and-write memory device. This device is a nonvolatilememory unit that stores instructions and data even when the electronicsystem 200 is off. Some embodiments of the invention use a mass-storagedevice (such as a magnetic or optical disk and its corresponding diskdrive) as the permanent storage device 225.

Other embodiments use a removable storage device (such as a floppy diskor a flash drive) as the permanent storage device 225. Like thepermanent storage device 225, the system memory 215 is a read-and-writememory device. However, unlike the storage device 225, the system memory215 is a volatile read-and-write memory, such as a random access memory.The system memory 215 stores some of the instructions and data that theprocessor needs at runtime. In some embodiments, processes are stored inthe system memory 215, the permanent storage device 225, and/or theread-only 220. For example, the various memory units includeinstructions for processing appearance alterations of displayablecharacters in accordance with some embodiments. From these variousmemory units, the processing unit(s) 210 retrieves instructions toexecute and data to process in order to execute the various processes ofdisclosed herein.

The bus 205 also connects to the input and output devices 230 and 235.The input devices 230 enable the person to communicate information andselect commands to the electronic system 200. The input devices 230include alphanumeric keyboards and pointing devices (also called “cursorcontrol devices”). The output devices 235 display images generated bythe electronic system 200. The output devices 235 include printers anddisplay devices, such as cathode ray tubes (CRT) or liquid crystaldisplays (LCD). Some embodiments include devices such as a touchscreenthat functions as both input and output devices.

Finally, as shown in FIG. 7, the bus 205 also couples the electronicsystem 200 to the network 240 through a network adapter (not shown). Inthis manner, the computer can be a part of a network of computers (suchas a local area network (“LAN”), a wide area network (“WAN”), or anintranet), or a network of networks (such as the Internet). Any or allcomponents of the electronic system 200 may be used in conjunction withthe invention.

These functions described above can be implemented in digital electroniccircuitry, in computer software, firmware or hardware. The techniquescan be implemented using one or more computer program products.Programmable processors and computers can be packaged or included inmobile devices. The processes may be performed by one or moreprogrammable processors and by one or more set of programmable logiccircuitry. General and special purpose computing and storage devices canbe interconnected through communication networks.

Some embodiments include electronic components, such as microprocessors,storage and memory that store computer program instructions in amachine-readable or computer-readable medium (alternatively referred toas computer-readable storage media, machine-readable media, ormachine-readable storage media). The computer-readable media may store acomputer program that is executable by at least one processing unit andincludes sets of instructions for performing various operations.Examples of computer programs or computer code include machine code,such as is produced by a compiler, and files including higher-level codethat are executed by a computer, an electronic component, or amicroprocessor using an interpreter.

With reference to FIGS. 6 and 8B, the hardware and software, inembodiments, can be activated using one or more of any form of user feedsensor 840, force sensor 842, wireless remote 844, remote on/off switch848, and the like. Moreover, the hardware and software can be activatedusing one or more mobile device 850, user wearables 852, dedicatedhardware token 854 making a wireless or wired connection, or the like.In embodiments, the firearm usage monitoring system 800 may operate withthe following instructions: receiving a signal from a force sensor 842such as the force sensor 120 (FIG. 6). If the signal is present, thenthe firearm usage monitoring system 800 engages, else the system 800remains in a dormant or sleep mode with low voltage draw as noted above.If the signal of the force sensor 842 is on, then the BluetoothUC/Module 130 receives a signal from the GPS module 160 as to where thesystem 800 is presently located. As noted above, one or more signalsother than from the force sensor 120, 842 can activate the system 800.Once the system 800 is active, the inertial monitoring unit 802 (FIG.8A) can provide information as to how the firearm 20 is oriented andmoved in 3D space until pressure releases on the grip 24. The system 800can determine the firearm 20 has been motionless for a preselectedperiod, or the information is specifically queried. Information as tohow the firearm 20 is oriented and moved in 3D space can includeanalyzing the firearm 20 for recoil and/or shot count when fired todiscern orientation, direction, and position at the time of discharge.This data can be stored in the flash memory 150. The flash memory 150can be transmitted through the Bluetooth uC/Module 130 to anotherBluetooth compatible device. The information including orientation,direction, and position can be also transmitted from the firearm 20 atpreselected time intervals, specific times, distances from certainlocations (e.g., geo-fencing capabilities), at the time of discharge, atthe time of reload of rounds 30, when the safety 34 (FIG. 2) is removed,and the like.

In embodiments, the firearm usage monitoring system 800 may record themotion of the firearm 20 and provide geolocation information 858, whichmay be coordinated with other information, such as disclosed herein.

In embodiments, the system 800 may transmit data via the networkconnection 240 (FIG. 7), such as a cellular network, to a remote server,which may be a secure server, or other remote processing components,such as the mobile device 850, cloud platform 860, or the like. Inembodiments, the system 800 may include an efficient architecture andcomponents for low power consumption, including energy harvestingmechanisms 862, such as harvesting the energy of motion of the firearmor energy from the recoil to provide power for storage and/or reportingof data. In embodiments, methods and systems provide rapid, efficientdetermination of location. The energy harvesting mechanisms 862 may alsobe configured to harvest local energy in the radio frequency (RF) domainor other appropriate local electromagnetic signals of sufficientstrength.

In embodiments, the network connection 240 (FIG. 7) by which the systemmay communicate data may be a mesh network connection 864. Withreference to FIG. 8C, the mesh network connection 864 may be aconnection to one or more other firearms or one or more other devices,such as a mobile robot 868, an infrastructure device 870, or the like.The mesh networking connection 864 may form part of a large meshnetwork, allowing devices, such as firearms and mobile robots, tocommunicate directly with one another, rather than having to firstconnect through a centralized network communication hub, or as asupplement to communication by one or more devices to such a hub. Suchdevices may include self-disposing devices 872, for example,self-disposing mobile robots.

In embodiments, the mesh network 864 may be a self-organizing and fluidmesh network that organizes and reorganizes itself based on specifieddata, including data filtered or weighted based on specified criteria,and/or the dynamic detection of other devices, for example with ageographic perimeter. Other devices may include deployable mesh networkhubs 872, also known as “pucks”, beacons, wireless access points, suchas Wi-Fi access points, lighting systems, cameras, and the like. Themesh network 864 may also include asset management systems, crowdsourcedcommunications, frequency scanning networking, cellular mesh networkingor other systems.

In embodiments, devices on the mesh network 864 may adjust locationinformation based on the relative movement of each other within the meshnetwork 864. In embodiments, the relative movement of devices may bereported by other devices within the mesh network 864 over the meshnetwork 864, such as to the self-disposing devices 872. The relativemovement of other devices may also be derived from inertial measurementunits (IMUs) disposed with the other devices within the mesh network864.

Relative movement information may include speed, velocity, accelerationor position information, and/or event identification information 874.Such information may include threat identification information, shotaccuracy information and the like. Event identification information mayinclude weapon information, information indicating a person is in anunauthorized area, soldier maneuver information (e.g., speed, direction,activity, or the like), in-position information (such as for anindividual or a device), rate-of-fire information, alternating fireinformation, maintenance required information, stoppage eventinformation, ammunition expenditure information, fight or struggleinformation and the like. In embodiments, authentication information maybe received from radio frequency identification (RFID) implants, forexample, implanted in the person.

In embodiments, the relative movement, such as among devices in the meshnetwork 864 like firearms 20 and other equipment may be providedrelative to at least one geographic location, such as through the use ofdata from the inertial measurement units (IMUs) or from one or moreother data sources. In embodiments, location may relate to relativelocations of one or more other firearms or other devices connected tothe mesh network 864, such as the distance, direction, and/or movementof one or more other firearms 20 or other devices relative to a givenone. In such embodiments, geographic location and movement information858, whether relating to a location or to another firearm or otherdevice may be communicated to a given firearm or other systems of anindividual handling a firearm over the mesh network 864. In embodiments,the geographic location may be an underground geographic location, whereother geographic location detecting signals, such as GPS are notavailable. In embodiments, a combination of geographic location andrelative location may be understood by the system, such as where atleast one member of a mesh network has a detectable location (such as byGPS signal) and other members have locations that are determinedrelative to the known member, such as by detecting motion through theinertial measuring unit (IMU) 802 or other non-GPS systems. It may beappreciated from these embodiments that using data from the IMU 802 onthe mesh network 864 may allow the firearm usage monitoring system 800to provide discharge location information in geographic locations thatmay not otherwise be covered by geographic location detecting signals.

In embodiments, the mesh network 864 connection may be a wireless meshnetwork connection and may be configured based on radio communicationfrequencies. In some situations, radio communication frequencies may besubject to interference or jamming, either intentionally or otherwise,making communication difficult or impossible when attempting toestablish a connection over the compromised frequency. Interference orjamming may include radio frequency interference or jamming, opticaljamming, noise, and the like. Because of the risk of jamming, andbecause communication reliability may be critical for user of thefirearm usage monitoring system 800, the firearm usage monitoring system800 may detect such jamming of one or more frequencies and automaticallyadjust the frequency of the mesh network 864 to avoid using thecompromised frequency, such as by selecting a frequency not currentlysubject to interference or jamming. The firearm usage monitoring system800 may then establish a wireless mesh network connection with anotherdevice using the selected frequency. Jamming or interference detectionmay include detecting attempted signal interception and scramblingtransmitted information to avoid the detected signal interception.

In embodiments, the firearm usage monitoring system 800 may determinedischarge information 878 related to the firing of the firearm 20connected to the mesh network 864. The discharge information 878 mayinclude discharge location, direction of the discharge, a motion path ofthe firearm preceding discharge and/or orientation of the firearm atdischarge. Orientation information 880 may be provided by the IMU 802and may include enemy area location and size information, unsafe actinformation, line of fire information, shift fire information, sectorsof fire information, interlocking fire information, 360 perimetersecurity information and the like.

The discharge information 878 may be determined from motion and locationinformation, such as provided by devices connected to the mesh network.For example, the discharge location may be determined from geographiclocation data of one or more firearms connected to the mesh network 864and may use relative movement data provided by the other devicesconnected to the mesh network 864, for example by analyzing relativemovement data that is based on resident IMU data from other firearmsconnected to the mesh network 864.

In embodiments, methods, systems and components are provided for asmall-footprint firearms tracking system 882, such as one of thedimensions less than 25 mm×25 mm×4.55 mm). In embodiments, the firearmtracking system 882 may identify movements and actions while in sleepmode, such as to trigger transmission of alert codes. In embodiments,the firearm tracking system 882 may be adapted for integration withvarious gun platforms, such as to interface with different grips,handles, and other internal and external firearm components andaccessories, including being integrated entirely into the grip of thefirearm.

In embodiments, the system may use over-the-air updates, may act as orintegrate with a beacon 884 (such as a BLE Beacon), may be charged bywireless charging, and may record data (such as inertial measurementunit (IMU) data) when in active or inactive mode (such as to flashmemory) and may enable a sleep/hibernation mode.

In embodiments, components are provided for a small-footprint firearmstracking system 882 may include Simblee (Bluetooth Low Energy,Microcontroller Unit), Micron N25Q256A13EF840E (256 Mbit Flash Memory),MPU9250 (9 axis accelerometer, gyroscope, and magnetometer IMU),ORG1411-PM04 (Origin GPS Nano Hornet, 2.7V), FSR-400 (Force Sensor), 800mAh LiPo Battery, Battery Charger (MCP73831), 2.7 V Regulator (MIC5365),3 V Laser, and/or UB-MC5BR3 (Waterproof USB connector).

In embodiments, the system may function in active modes, sleep modesand/or hibernation modes. In active mode, the device may be in fullpower mode, such as using power for collecting readings from the IMU andGPS and transmitting them via a local protocol like BLE to an edgedevice. The laser module 814 may also be activated. In embodiments, datacan be sent in this format at relatively high data rates, such as at 30messages/second, 50 messages/second, 100 messages/second, or the like. Asample string may includeAB-FC-22-CC-B3-00-00-00-00-00-00-00-00-00-00-00-00-5E-89-5A-C0-71-3E-E6-C0-FA-18-9C-C0-00-20-75-3F-00-80-52-3E-00-00-19-3E-00-00-B4-40-67-66-00-C1-34-33-6B-C0-01-BA. The guide may be as follows: AB (header), FC-22-CC-B3-00 (millisecondtimestamp), 00-00-00-00 (latitude), 00-00-00-00 (longitude), 00-00(altitude in meters), 00 (horizontal accuracy in meters), 5E-89-5A-C0(gyro x), 71-3E-E6-C0 (gyro y), FA-18-9C-C0 (gyro z), 00-20-75-3F (accelx), 00-80-52-3E (accel y), 00-00-19-3E (accel z), 00-00-B4-40 (mag x),67-66-00-C1 (mag y), 34-33-6B-C0 (mag z), 01 (unit status), BA (footer).A millisecond timestamp may be used, such as in a modified Unixtimestamp, e.g., for milliseconds after 01-01-16. If BLE is unavailableor a message is not sent, this may be stored in the flash memory 150,822 to be sent when the device enters sleep mode. Active mode may betriggered when force is applied to the force sensor 120, 822. Dependingon configuration, the system 800 may remain in active mode for aspecified time, such as two minutes after the force is no longerapplied, for five minutes, for ten minutes, or the like. This timer maybe reset when force is reapplied. In embodiments, the laser module 814may be turned on at limited times, such as when the force applied to theforce sensor (optionally based on the mode or regardless of the mode).This mode may consume, for example, around 70 mAh of energy.

The unit may also power down into a “sleep” mode, such as when there isno longer force applied to the unit and the timer has gone down(indicating expiration of active mode). In such a sleep mode, onemessage may be sent at a defined period, such as once per second, suchas containing the timestamp, location data, and current orientation data880. The GPS module 160, 804 may enter an ATP (adaptive trickle power)state where it cycles between full power and ATP to minimize powerconsumption while maintaining a fix on its location. In embodiments, alocation fix may be maintained consistently, regardless of power mode.In embodiments, the IMU may be polled at a low rate, such as to monitormovement. If no movement is sensed for a given time, such as fiveminutes, then the unit may go into another even lower power mode,referred to herein as a hibernation mode.

In such as hibernation mode, the unit may continue to send messages(e.g., one per second), such as containing the timestamp, location data,and current orientation data. The GPS module 160, 804 may enterhibernation where it consumes, for example, under 1 mA of power. The IMU802 may still be polled at a low rate. If movement exceeds a certainthreshold, the unit may go into sleep mode and the GPS module 160, 804may wake up to maintain a location fix. This mode may consume, forexample, under 7 mAh.

In embodiments, the firearm usage tracking system 800 may communicatewith external systems, such as by delivering reports, events, locationinformation, and the like. In one such embodiment, a signal may beprovided to a camera system 880, such as a body camera worn by anindividual, to initiate recording by the camera, such as recording videoof a scene involving the individual. For example, the camera system 888may initiate recording upon receiving a signal indicating that a weaponhas been raised into an aiming position so that the situation in whichthat activity occurred is recorded. By triggering the camera system 888to activate one or more body cameras upon such events, use of the bodycameras may be limited to key situations, potentially reducing thestorage and data transmissions requirements for capturing, storing andtransmitting video data over networks, which can be very expensive iflarge amounts of video are captured for normal daily activities forwhich there is little use for recorded video. Thus, the firearm usagemonitoring system 800 may enable a much more efficient overallmonitoring system, including one that records video involving the userof the firearm 20.

In embodiments, data, such as various firearm usage events (such asgripping the firearm, raising the firearm, discharging the firearm,moving around with the firearm, entering defined locations with thefirearm, and the like) may be stored, analyzed, and provided, either inraw form or in various packaged feeds, such as analytic feeds, toexternal systems. With reference to FIG. 10B, one class of system thatmay consume such data and/or analytics is an insurance system 1050,where such data may be used for various purposes, such as forunderwriting and pricing insurance contracts (such as for liabilityinsurance, accident and hazard insurance, health insurance, lifeinsurance, and others) involving one or more individuals or groups forwhom firearm-related activity is monitored by the methods and systemsdisclosed herein. This data may be used for actuarial purposes (such asto predict the likelihood of adverse events involving firearms, such asaccidents or other problems), as well as to compare the relative safetyof a given group as compared to one or more cohorts. For example, asecurity firm that wishes to obtain liability insurance can be comparedto other security firms in the same industry or area, and the extent towhich weapons are gripped, raised, or discharged can be considered indetermining whether to issue insurance and at what price insuranceshould be issued. This may include data related to on-the-job events aswell as data related to training (such as where consistent usage intraining situations may serve as a favorable indicator forunderwriting).

In embodiments, the firearm usage tracking system may include atechnology stack that includes hardware elements, software elements, anddata.

Methods and systems are provided herein for identifying discharges andcounting shots, discharges, etc. Conventional technologies for doing sotypically require a spring in the magazine and a system for detectingwhere the spring is positioned. For example, as another bullet went intothe chamber of the weapon, the spring position helped measure rounds ina magazine. By contrast, the present disclosure provides an externaldevice that can be attached to the firearm 20 to register when a shot isfired. The discharge has a unique, detectable, physical profile (i.e., adischarge has recoil that has a particular motion profile, soundprofile, and the like). A recoil measuring system 1052 may use anInertial Monitoring Unit (IMU), including or combined withmotion-detecting/sensing elements, including one or more accelerometers,gyros, magnetometers, and the like. In embodiments, a map is developedbased on analysis of discharge events to the map 1054 the entire motionsequence caused by a typical discharge. That motion profile, which maybe unique to each weapon platform and user, can be stored and used as abasis for comparing future sensed data to determine whether a dischargeevent has occurred. Similar profiling can be used for each weapon typeto determine whether the firearm has been raised to an aiming positionor out of the holster position.

In embodiments, a firearm usage monitoring system 800 may allow a userto validate a threat, for example in a combat situation. A firearm usagemonitoring system 800 may establish a pressure signature 1054 tovalidate the threat. The threat may be validated by the firearm usagemonitoring system 800 by comparing the pressure signature against arange of pressure signatures, for example from no pressure to extremepressure.

The pressure signature 1054 may be established by collectinginformation, such as information from sensors, such as a sensor equippedfirearm and the like. In embodiments, sensors may be wearable sensors1058, such as from an armband, a watch, a wrist band, glasses, a helmetor other headgear, an earpiece, or the like, or may be combined withother sensors, including multi-modal sensors 1060. Sensors may alsoinclude other wearable sensors, firearm motion sensors, firearmorientation sensors, firearm discharge sensors and combinations ofsensors. Combinations of sensors may include combinations of wearableand firearm sensors, combinations of firearm and fixed sensors, forexample, Internet of Things (IoT) sensors, and the like. A sensorequipped firearm may include a pressure sensor, for example to determinea grip profile using information such as threat ID, shot accuracy,engagement, alert information and tactical information. Informationcollected from a sensor equipped firearm may include dischargeinformation, motion information, rate of motion information, orientationinformation and the like.

The rate of motion information may include movement information relatedto speed, threat identification and shot accuracy. Movement informationmay also be related to an event identifier for events, such as eventsassociated with weapons and people. Events associated with firearms mayinclude events indicating the firearm has fallen, is outside of apre-designated distance from its owner, in an unauthorized area and thelike. Events associated with people may include events indicating aperson is in an unauthorized area, the maneuvering speed of the personand the like.

Determining the pressure signature 1054 may also include determining afirearm-specific candidate action of a first firearm user, from at leasta portion of the collected information. The candidate action may becompared with other firearm users, for example, other firearm usersproximal to the first firearm user or other firearm users associatedwith the first firearm user.

The collected information, candidate action or actions, and actioncomparison result may then be stored in a data structure that representsthe pressure signature 1054. The collected information, candidate actionor actions, and action comparison result may also be filtered orweighted based on specified criteria, prior to being stored in the datastructure that represents the pressure signature 1054.

In embodiments, the firearm usage tracking system 800 providesalternatives for monitoring discharges, such as cameras, or augmentsthose other monitoring systems. The methods and systems disclosed hereinmay include image recognition, which can identify the flash of a muzzleor for the slide rocking back. The system may also have acousticabilities and may provide sound recognition.

In embodiments, the firearm usage tracking system 800 includes aninfrared gate in front of the ejection port. This gate 1062 can track adisconnect when the weapon is fired, such as when the shell is engagedand breaks the gate 1062. In embodiments, the firearm usage trackingsystem 800 may include a hall effect sensor 1064 to measure the motionof an internal part. In embodiments the firearm usage tracking system800 can capture the discharge profile of a given weapon by using aninertial measurement unit (IMU). The discharge profile may have uniqueinertial characteristics when a weapon is discharged, such as based onthe geometry, distribution of weight, specified ammunition, and thelike, so that a discharge can be profiled and identified based on aseries of movements that are measured by the IMU. In embodiments, thefirearm usage tracking system 800 may track with a global positioningsystem (GPS). In embodiments, the firearm usage tracking system 800includes network reporting facility, such as through a Bluetoothdischarge report to a centralized server. In embodiments, the firearmusage tracking system 800 can also measure when a hand is on the grip ofthe weapon indicating a threatening situation. This sensor, button, orswitch can provide valuable data, such as by alerting others to apotentially dangerous situation.

In embodiments, the firearm usage tracking system 800 includes anactivity monitor which will indicate events such as when the gun iselevated and being pointed.

In embodiments, the firearm usage tracking system 800 includes a slimprofile, waterproof enclosure to house the electronics and housing. Inembodiments, the firearm usage tracking system 800 includes agrip-integrated reporting device including GPS technology. Inembodiments, the firearm usage tracking system 800 can be customizedwith various grip configurations and textures, such as to fit any kindof weapon with a familiar, comfortable type of grip that is typical forthat weapon.

In embodiments, the system 800 can be integrated with other systems andaccessories. For example, a visible light (such as green or red) orinfrared laser pointing module 814 can be integrated with the grip, suchas to help with target acquisition, a flashlight to improve visibility,or a range finder also for target acquisition.

In embodiments, the firearm usage tracking system 800 contains awireless charging system for the firearm discharge device. This allowsgreater ease of use.

In embodiments, the firearm usage tracking system 800 allows for manualor automatic calibration of the laser designator. In embodiments, thefirearm usage tracking system 800 can detect alternative trackingsystems when in a denied GPS location; for example, the system cantriangulate with cellular to provide an initial location to increase thespeed recognition of location or the system can triangulate with Wi-Fior other beacon technologies. In embodiments, the firearm usage trackingsystem 800 augments GPS with IMU to maintain relative position overtime. The system can then provide better accuracy on physical locationwithin a building that cannot support GPS tracking. In embodiments, thefirearm usage tracking system 800 integrates with GPS-denied navigationsystems.

In embodiments, the firearm usage tracking system 800 augments thephysical location detection with depth sensors and camera systems togather data.

In embodiments, the firearm usage tracking system 800 provides datastorage. The system gathers data when the device is gripped throughminutes after the device is disengaged. If the device cannot transmit tothe edge device on the network (e.g., not available, out of range), itmay store (e.g., for up to 30 days) in onboard memory (e.g., throughhigh data rate memory). Once available, the system may restart thetransmission process, so that the data is sent over.

In embodiments, the firearm usage tracking system 800 has an ecosystemfor data. In embodiments data may be aggregated, such as to create anaggregate database for firearms data, with various metrics that can beapplied to that kind of data, such as indicating groups or locationsthat use weapons with varying frequency, that undertake more or lesstraining, and many others.

In embodiments, the firearm usage tracking system 800 provides powermanagement capabilities. If the device is in motion but not in use, thelow power mode (e.g., with occasional pinging) may be implemented tomaintain general awareness of the location of the user. The devicetransmits a location every one second. If not used for a period of time,(e.g., for ½ hour) the device may send one message at a definedinterval, such as every second, every minute, every one-half hour, everyhour, or at other intervals.

In embodiments, the firearm usage tracking system 800 provides inventorycontrol. With monitoring, an alert can be sent and the weapon can betracked. Thus, for a manager, the system may provide locations of allweapons of a given force at any given time.

In embodiments, the firearm usage tracking system 800 provides firearmmaintenance. With monitoring, the system may provide data on the numberof rounds discharged and which gun components need maintenance orreplacement.

In embodiments, the firearm usage tracking system 800 provides real-timetracking of users when in motion. This can identify where the device andusers are at any time and when the weapon is in motion.

In embodiments, the firearm usage tracking system 800 integrates withthe body camera systems 888 and automatically activates when the deviceis gripped or in motion. The body camera data can then be streamed inreal-time when in use.

In embodiments, the firearm usage tracking system 800 can be activatedwhen motion is detected from the body camera system 888.

In embodiments, the firearm usage tracking system 800 integrates withwearable devices 1058, such as activity monitors. It can integrate withmobile devices and the Emergency Response Data communicationsarchitecture.

In embodiments, the firearm usage tracking system 800 includesgeofence-based alerts. The geofence capability can be implemented arounda warehouse where weapons are stored to track weapons for inventorycontrol or threatening situations.

In embodiments, the firearm usage tracking system 800 can includepersonnel information including home addresses for location-basedreaction.

In embodiments, the firearm usage tracking system 800 includes adashboard user interface 1068. A map is populated with icons showingexact locations of weapons. The icon can include all personnelinformation for the weapon, status, and includes a button to zoom in onthat location (and drill down on the data). In embodiments, the firearmusage tracking system 800 provides aggregating units in the dashboarduser interface 1068. When the map becomes too dense with overlappingicons, the map may adjust to include a new icon symbolizing multipleunits within the specific area.

In embodiments, the firearm usage tracking system 800 providessoftware-aided dispatch integration. The software used for monitoringfirearms can replace or augment the current computer-aided dispatchsystem to gain efficiency in call response and have one program to bemore effective.

In embodiments, the firearm usage tracking system 800 integrates withPolice Evidence Collection Systems, such as providing a centralizedsoftware suite that gathers the evidence information (and allows certainusers to view and upload the information, creating efficiencies acrossdepartments).

In embodiments, the firearm usage tracking system 800 allows individualsto review and replay firearm data as part of evidence collection,training, and/or auditing purposes.

In embodiments, the firearm usage tracking system 800 integrates withshooting ranges and retail point of sale (POS) inventory and maintenancesystems 1070.

In embodiments, the firearm usage tracking system 800 integrates withthe flight deck of an airplane. The system may provide an IMU in theplane's steering wheel for further tracking purposes.

In embodiments, the firearm usage tracking system 800 integrates withthe controls of cargo ships, and the like. The system may provide an IMUin the ship's steering wheel for further tracking purposes. Inembodiments, the system may provide tracking within shipping containers.

In embodiments, the firearm usage tracking system 800 integrates withvarious vehicles and inventory to provide fleet and/or inventorymanagement.

In embodiments, the firearm usage tracking system 800 can adapt for alarge variety of firearms with various grip options.

In embodiments, the firearm usage tracking system 800 provides over theair (OTA) updates for software upgrades.

In embodiments, the firearm usage tracking system 800 can integrate withoriginal equipment manufacturer (OEM) components such as IMU, GPS, andBluetooth.

In embodiments, the firearm usage tracking system 800 provide, integratewith, or connect to the machine control system 1000 and machine-learningsystems 1072 including custom algorithms for determining recoil of thefirearm and other behaviors or characteristics of the system. Forexample, in embodiments, the firearm usage tracking system 800 includesmachine learning systems 1072 with identification algorithms todetermine the complex motion associated with the discharge of aparticular type of weapon. Embodiments may include feeding IMU datacollected upon gripping, movement, and discharge of weapons into themachine learning system 1072, so that the system can learn theparameters of each with respect to enough training events that it canrapidly and accurately identify new events based on new IMU data, suchas collected in real time. In embodiments, the system 1072 can betrained to learn to identify a threatening situation when the grip isengaged and the firearm is pointed, when the motion has increasedindicating a pursuit, and when it is not in motion (e.g., placed insleep mode). More complex patterns can be learned, such as determiningwhat patterns tend to lead to accidents, dangerous incidents, higherquality training, and the like.

In an example of learning and utilization of a complex pattern, afirearm usage monitoring system 800 may use the machine learning system1072 to determine firearm movements that may indicate a discharge fromthe firearm is imminent. In this example, the machine learning system1072 may, for example, detect motion and orientation data from sensors,such as from sensors on the firearm 20, sensors in the mesh network 864(including other firearms) or wearable sensors (e.g., multi-modalsensors) of the human user of the firearm, which in turn may be used bythe machine learning system 1072 to facilitate a threat response. Inembodiments, a threat response may include an automatic threat response,such as by one or more machines that are teamed with the human user ofthe firearm 20.

In embodiments, the machine learning system 1072 may determinecombinations of data, such as motion, orientation and multi-modal sensordata that are indicative of imminent discharge of the firearm.

The machine learning system 1072 may also receive other inputs orgenerate information to combine with the sensor data, such as anindication of a firearm state. Firearm states may include combat states,training states, wartime states, peacetime states, civilian states,military states, first responder states, incident response states,emergency states, on-call states, and the like. Firearm states may bestates from one or more than one firearm, for example, a set of firearmsassociated with a group of soldiers in the same section of a battlefieldor a set of police officers in a region.

Combinations of data may allow the machine learning system to recognize,determine, classify, or predict information, such as about environments,objects, image content, whether a person is friendly or adversary,structures, landscapes, human and human gestures, facial indicators,voices, and locations, among others. Example combinations may includecombinations of data from topography and physiological monitors, ISR,and structure recognition combinations, as well as combinations of humanand machine physical states. Combinations of data may also be tacticalcombinations. Tactical combinations may combine data from devices on abattlefield, information about other sectors of fire, and the like andmay include firearms and other weapons, vehicles, body armor and otherwearable elements, and the like (collectively referred to herein as“battlefield of things”) devices including, for example, remotelyoperated units such as Common Remotely Operated Weapon Stations (CROWS)or other remote controlled firearms that may be configured with heaviercalibers and higher lethality.

Objects that may be recognized by machine learning may include weapons,man-made objects, natural objects, and the like. Structures may includedoors, stairs, walls, drop-offs, and the like. Human gestures may bedetected, interpreted and understood by the machine learning system,while facial indicators could be indicators of mood, intent, and thelike. The machine learning system 1072 may use thresholds to assist withdetermination and recognition process. For example, combinations of dataexceeding specified levels may provide a high degree of confidence thatthe recognition process is accurate.

In embodiments the machine learning system 1072 teamed with the humanuser of the firearm 20 may be operated autonomously, for example inresponse to a determined intent of the human user of the firearm 20teamed with the machine learning system 1072. The firearm usagemonitoring system 800 may detect gestures of the human firearm user,such as by capturing and analyzing data from sensors that detectconditions of the human, as well as firearm sensors. Sensors that detectconditions of the human may include multi-modal sensors and multi-modalwearable sensors. Gestures may include pointing gestures, threatidentification gestures, target acquisition gestures, signaling gesturesand the like.

In embodiments, conditions recognized by the machine learning systems1072 or sensed in order to facilitate training of the machine learningsystem 1072 may include conditions indicative of human states, such asstress and other physiological states. Conditions indicative of humanstates 1074 and captured by sensors for analysis by the firearm usagemonitoring system may include heart rate conditions, for example,physical state relationships, blood pressure conditions, bodytemperature, galvanic skin response, heat flux, moisture, chemistry (forexample glucose levels), muscle states and neurological states. Variousbiological conditions or biosensors may be indicative of threats, suchas heart rate conditions, body temperature, moisture (such as indicatingexcessive perspiration), blood pressure, galvanic skin response, andothers. Firearm sensors may be multi-modal firearm sensors and mayinclude sensors that detect motion, orientation and discharge state ofthe firearm 20.

Analyzing the data by the firearm usage monitoring system 800 mayproduce a set of candidate intents 1080 of the human firearm user or ofanother individual in proximity to the firearm user (such as wherecamera information, voice information, and the like is available). Thecandidate intents 1080 may, in embodiments, be combined with physicaland operation machine state information to select one or more actionplans 1082. The machine teamed with the human user of the firearm 20 maythen execute and adjust the selected action plan 1082 based on updatedintents, machine states, and environmental factors. Machine statefactors may include physical factors, operational factors, orientationfactors, tactile/force factors, and the like.

Environmental factors 1084 may include weather factors, location datafactors, altitude factors, topography factors, video factors and thelike. Weather factors may include temperature, humidity, wind speed,wind direction and precipitation factors, among others. Location datafactors may include streaming data, as well as data acquired from globalpositioning systems (GPS) and beacons, access points or the like, aswell as through cellular tri angulation. Topography factors may includedata and observations, while video factors may include both live andarchived video feeds. The action plan 1082 may also be formed from a setof predetermined action steps, for example, action steps that eachsatisfy human teaming criteria selected to coordinate with at least oneof the candidate intents 1080. Actions steps may also be arranged intoaction plans by sets of rules.

With reference to FIG. 10A, the machine learning system 1072 may includethe machine control system 1000 that may team with a human user of afirearm. The machine control system 1000 may receive multi-modal sensoryinput 1002 from multi-modal sensors. The multi-modal sensory input 1002may send sensed data to a sensory analysis module 1004. The sensoryanalysis module 1004 may forward an actionable representation of thesensed data to a control scheduling process module 1006 and a real-timecontrol process module 1008 for further processing.

The control scheduling process module 1006 may provide schedulingcontrol information to the real-time control process module 1008 thatmay issue machine control scenarios to machine controller modules 1010.The machine control modules 1010 may affect the machine controlscenarios, for example by mechanization of the machine through a finalcontrol element module 1012. Machine control scenarios may includerecognition of celebratory situations such as dancing scenarios and fistbump scenarios separate from other human machine learning scenarios inmuch more threatening and complex environments. In many examples, themachine learning system 1072 may identify celebratory fire overthreatening fire. In embodiments, one or moreanalysis-schedule-real-time modules 1088 (FIG. 10C) may storeinformation in a storage module 1014 for use as feedback/input to themachine learning system, such as feedback provided through feedbackmodules 1016, that then may adjust parameters for teaming. It will beappreciated in light of the disclosure that it may not be practical tohard code every combination of movement and therefore the machinelearning system 1072 may be configured to identify one or more series ofmovements after being shown by one or more human users of other machinelearning systems. By way of these examples, the machine learning system1072 may learn the movements of the its users by translating anddetecting their motion and comparing the identified motions in contextwith the environment in comparison with trained examples, confidence inthose examples, corrections to past activity, and the like to assist,anticipate, protect, support, and facilitate the needs of the users inthe theater more quickly and more safely.

In many examples, social interactions between human users and machinesdeployed with them must be learned by both parties. It will beappreciated that early stage robots (i.e., those incapable of expressing“feelings”) could improve the psyche of their human counterpart evenwith little mutual social interaction. With that said, many situationsarise where mutually beneficial social interactions between the usersand the machine learning system 1072 may improve the ability of themachine learning system 1072 to assist, anticipate, protect, support,and facilitate the needs of the users in the theater more quickly andmore safely. Many situations are additionally good candidates to trainthe machine learning system 1072 to understand friendly environmentsover threatening situations. In these environments and situations, themachine learning system 1072 may need to learn how to interact more withhuman users in order to better produce a more intuitive experience. Inmuch the same way as our homes may be associated with a certain smell orfeeling, the machine learning system 1072 may need to understand andrelate sensory inputs with other inputs and schedule specific actionsand processes. If a human user and robotic machine counterpart enter themess hall which is not a combat zone, the machine learning system 1072would need to understand that a different set of actions or schedulingprocesses occurs in this environment when instructing its roboticmachine counterparts (or other assets) in the area.

In embodiments, the machine learning system 1072 may manage acoordinated team of human users of firearms and at least one machine. Inthis embodiment, the machine learning system 1072 may receive as inputsat least one sensory input about a human and at least one sensory inputabout a machine that is part of the team coordinated with the human. Themachine learning system 1072 may then automatically, using machinelearning, determine the occurrence of an event, such as a pre-dischargeevent, a discharge event, a post-discharge event (including a postdischarge adverse event) or other events. Post discharge adverse eventsmay include injury to the human or occurrence of damage to the machine,such as subsequent to the detection of a firearm discharge event by thesystem.

In embodiments, the firearm usage tracking system 800 may be or includean all-in-one communication device 1090. The system may integrate with avariety of other communication devices, such as camera systems 888including body cameras, helmet cameras, heart rate monitors,physiological monitors, and messaging.

In embodiments, the firearm usage tracking system 800 may integrate withphysiological monitors. A heart rate band or monitor can be an indicatorof a distressed situation creating a notification.

In embodiments, the firearm usage tracking system 800 integrates withmobile phone technology. The system can send critical messages in atimely manner, such as through an app. The app may be directly connectedto dispatchers, such as allowing the caller to request assistance.

In embodiments, the firearm usage tracking system 800 may provide adashboard for the dispatcher. The dashboard may include communicationand mapping features, such as to track the location of all weapons inreal-time, to highlight relevant events (such as weapons being gripped,weapons being raised, or weapons that have been discharged). Thedashboard may provide access information from other systems, such asmaking available camera views, such as ones that are triggered byactivation of body cameras or on-site cameras from the firearmmonitoring system or from the dashboard. In embodiments, the firearmusage tracking system 800 provides a dashboard for the supervisor. Inembodiments, the dashboard includes the communication system and mappingtechnology to track the location of all weapons in realtime. Inembodiments, the firearm usage tracking system 800 separates users intogroups/echelons with designated permissions. In embodiments, the firearmusage tracking system 800 provides a dashboard for one or more of groundunits, officers, military personnel, an investigator/compliance officer,and the like. The dashboard may include the communication system andmapping technology to track the location of all weapons in realtime.

In embodiments, the firearm usage tracking system 800 measures theparameters of the recoil and parameters of pre-shot movement. Thisallows an analysis of changes over time to determine the status of theweapon. The system can also capture movements and determine whether theuser is handling the weapon properly.

In embodiments, the firearm usage tracking system 800 may alert the usershould the weapon be pointed at another person with a tracking system.The firearm usage tracking system 800 may also alert the user should theweapon be pointed at another weapon, another deployed asset, anotherpredefined target, raised quickly in a geo-defined zone, or the like.This may help avoid friendly fire (fratricide) situations.

In embodiments, the firearm usage tracking system 800 integrates with avirtual, augmented, or heads-up display (HUD) reality system 1092including virtual, augmented reality, or HUD glasses. This integrationcan provide the user with vital information, including how many roundsof ammunition are left, such as based on tracking discharges over timeand comparing to known characteristics of a weapon, such as the size ofa magazine.

In embodiments, the firearm usage tracking system 800 includespredictive maintenance, such as determined by the number of shots taken.The system can alert when components need to be maintained or replaced.

In embodiments, the firearm usage tracking system 800 allows the numberof shots fired to influence resale value of the firearm.

In embodiments, the firearm usage tracking system 800 includespredictive maintenance based on recoil parameters (e.g., showingdegradation of performance as recoil patterns shift over time).

In embodiments, the firearm usage tracking system 800 includes apredictive resupply module 1094 based on the number of shots taken. Inembodiments the firearm usage tracking system 800 indicates whenammunition needs to be re-supplied.

In embodiments, the firearm usage tracking system 800 accounts forinventory of rounds used with the predictive resupply module 1094 thattracks the amount of ammunition used and alerts when the inventory andshots fired do not match indicating a loss of ammunition.

Methods and systems are provided for the installation of grips. Thefireguards can be removed to install the tracking system on to therails.

In embodiments, the firearm usage tracking system integrates an IMU intoa smart weapon (e.g., one with user authentication, such as based on apassword or other code, or a biometric authentication system).

In embodiments, the firearm usage tracking system 800 includes agrip-located IMU for a connected firearms platform.

In embodiments, the firearm usage tracking system 800 integrates withartificial intelligence (AI) and Machine Learning. For example, AI canprovide predictive ammunition re-supply, such as measuring fire ratesand accounting for delivery time of new ammunition.

In embodiments, the firearm usage tracking system 800 integrates withvirtual reality (VR) or augment reality (AR) using, for example, aMicrosoft® HoloLens® for training purposes. A virtual command center fora battlefield training session can be created.

In embodiments, the firearm usage tracking system 800 provides VR and ARgrip installation. VR video can be used to identify the platform andprovide instruction on removal and installation of grips and or otherfirearm parts.

In embodiments, the firearm usage tracking system 800 supplies data toan AR/VR system 1098 that included VR and AR headsets. This may allowusers to monitor inventory, rounds left in the magazine, and otherrelevant data including a map of the environment and surrounding unitsand objective markers.

In embodiments, the firearm usage tracking system 800 can havecustomizable grips provided through 3D printing or other manufacturingprocesses. Each individual can customize a style, color, texture,portions of shapes, concavity and convexity to better fit in the hand,changing knurled surfaces, combinations of textures and colors andpurposely different designs and configurations, etc. on one side thegrip relative to the other or make them mirror images of each other.

In embodiments, the methods and systems disclosed herein providebenefits to a wide number of users, including without limitation privateand commercial gun users. One such set of users comprises of managers offirst responder and law enforcement personnel, such as police chiefs andelected officials that manage officers and dispatchers.

Detailed embodiments of the present disclosure are disclosed herein;however, it is to be understood that the disclosed embodiments aremerely exemplary of the disclosure, which may be embodied in variousforms. Therefore, specific structural and functional details disclosedherein are not to be interpreted as limiting, but merely as a basis forthe claims and as a representative basis for teaching one skilled in theart to variously employ the present disclosure in virtually anyappropriately detailed structure.

While only a few embodiments of the present disclosure have been shownand described, it will be obvious to those skilled in the art that manychanges and modifications may be made thereunto without departing fromthe spirit and scope of the present disclosure as described in thefollowing claims. All patent applications and patents, both foreign anddomestic, and all other publications referenced herein are incorporatedherein in their entireties to the full extent permitted by law.

The methods and systems described herein may be deployed in part or inwhole through a machine that executes computer software, program codes,and/or instructions on a processor. The present disclosure may beimplemented as a method on the machine, as a system or apparatus as partof or in relation to the machine, or as a computer program productembodied in a computer readable medium executing on one or more of themachines. In embodiments, the processor may be part of a server, cloudserver, client, network infrastructure, mobile computing platform,stationary computing platform, or other computing platforms. A processormay be any kind of computational or processing device capable ofexecuting program instructions, codes, binary instructions, and thelike. The processor may be or may include a signal processor, digitalprocessor, embedded processor, microprocessor or any variant such as aco-processor (math co-processor, graphic co-processor, communicationco-processor and the like) and the like that may directly or indirectlyfacilitate execution of program code or program instructions storedthereon. In addition, the processor may enable execution of multipleprograms, threads, and codes. The threads may be executed simultaneouslyto enhance the performance of the processor and to facilitatesimultaneous operations of the application. By way of implementation,methods, program codes, program instructions and the like describedherein may be implemented in one or more thread. The thread may spawnother threads that may have assigned priorities associated with them;the processor may execute these threads based on priority or any otherorder based on instructions provided in the program code. The processor,or any machine utilizing one, may include non-transitory memory thatstores methods, codes, instructions and programs as described herein andelsewhere. The processor may access a non-transitory storage mediumthrough an interface that may store methods, codes, and instructions asdescribed herein and elsewhere. The storage medium associated with theprocessor for storing methods, programs, codes, program instructions orother type of instructions capable of being executed by the computing orprocessing device may include but may not be limited to one or more of aCD-ROM, DVD, memory, hard disk, flash drive, RAM, ROM, cache, and thelike.

A processor may include one or more cores that may enhance speed andperformance of a multiprocessor. In embodiments, the process may be adual core processor, quad core processors, other chip-levelmultiprocessor and the like that combine two or more independent cores(called a die).

The methods and systems described herein may be deployed in part or inwhole through a machine that executes computer software on a server,client, firewall, gateway, hub, router, or other such computer and/ornetworking hardware. The software program may be associated with aserver that may include a file server, print server, domain server,internet server, intranet server, cloud server, and other variants suchas secondary server, host server, distributed server, and the like. Theserver may include one or more of memories, processors, computerreadable media, storage media, ports (physical and virtual),communication devices, and interfaces capable of accessing otherservers, clients, machines, and devices through a wired or a wirelessmedium, and the like. The methods, programs, or codes as describedherein and elsewhere may be executed by the server. In addition, otherdevices required for execution of methods as described in thisapplication may be considered as a part of the infrastructure associatedwith the server.

The server may provide an interface to other devices including, withoutlimitation, clients, other servers, printers, database servers, printservers, file servers, communication servers, distributed servers,social networks, and the like. Additionally, this coupling and/orconnection may facilitate remote execution of program across thenetwork. The networking of some or all of these devices may facilitateparallel processing of a program or method at one or more locationwithout deviating from the scope of the disclosure. In addition, any ofthe devices attached to the server through an interface may include atleast one storage medium capable of storing methods, programs, codeand/or instructions. A central repository may provide programinstructions to be executed on different devices. In thisimplementation, the remote repository may act as a storage medium forprogram code, instructions, and programs.

The software program may be associated with a client that may include afile client, print client, domain client, internet client, intranetclient and other variants such as secondary client, host client,distributed client, and the like. The client may include one or more ofmemories, processors, computer readable media, storage media, ports(physical and virtual), communication devices, and interfaces capable ofaccessing other clients, servers, machines, and devices through a wiredor a wireless medium, and the like. The methods, programs, or codes asdescribed herein and elsewhere may be executed by the client. Inaddition, other devices required for execution of methods as describedin this application may be considered as a part of the infrastructureassociated with the client.

The client may provide an interface to other devices including, withoutlimitation, servers, other clients, printers, database servers, printservers, file servers, communication servers, distributed servers, andthe like. Additionally, this coupling and/or connection may facilitateremote execution of program across the network. The networking of someor all of these devices may facilitate parallel processing of a programor method at one or more location without deviating from the scope ofthe disclosure. In addition, any of the devices attached to the clientthrough an interface may include at least one storage medium capable ofstoring methods, programs, applications, code and/or instructions. Acentral repository may provide program instructions to be executed ondifferent devices. In this implementation, the remote repository may actas a storage medium for program code, instructions, and programs.

The methods and systems described herein may be deployed in part or inwhole through network infrastructures. The network infrastructure mayinclude elements such as computing devices, servers, routers, hubs,firewalls, clients, personal computers, communication devices, routingdevices and other active and passive devices, modules and/or componentsas known in the art. The computing and/or non-computing device(s)associated with the network infrastructure may include, apart from othercomponents, a storage medium such as flash memory, buffer, stack, RAM,ROM, and the like. The processes, methods, program codes, instructionsdescribed herein and elsewhere may be executed by one or more of thenetwork infrastructural elements. The methods and systems describedherein may be adapted for use with any kind of private, community, orhybrid cloud computing network or cloud computing environment, includingthose which involve features of software as a service (SaaS), platformas a service (PaaS), and/or infrastructure as a service (IaaS).

The methods, program codes, and instructions described herein andelsewhere may be implemented on a cellular network having multiplecells. The cellular network may either be frequency division multipleaccess (FDMA) network or code division multiple access (CDMA) network.The cellular network may include mobile devices, cell sites, basestations, repeaters, antennas, towers, and the like. The cell networkmay be a GSM, GPRS, 3G, EVDO, mesh, or other networks types.

The methods, program codes, and instructions described herein andelsewhere may be implemented on or through mobile devices. The mobiledevices may include navigation devices, cell phones, mobile phones,mobile personal digital assistants, laptops, palmtops, netbooks, pagers,electronic books readers, music players and the like. These devices mayinclude, apart from other components, a storage medium such as a flashmemory, buffer, RAM, ROM and one or more computing devices. Thecomputing devices associated with mobile devices may be enabled toexecute program codes, methods, and instructions stored thereon.Alternatively, the mobile devices may be configured to executeinstructions in collaboration with other devices. The mobile devices maycommunicate with base stations interfaced with servers and configured toexecute program codes. The mobile devices may communicate on apeer-to-peer network, mesh network, or other communications network. Theprogram code may be stored on the storage medium associated with theserver and executed by a computing device embedded within the server.The base station may include a computing device and a storage medium.The storage device may store program codes and instructions executed bythe computing devices associated with the base station.

The computer software, program codes, and/or instructions may be storedand/or accessed on machine readable media that may include: computercomponents, devices, and recording media that retain digital data usedfor computing for some interval of time; semiconductor storage known asrandom access memory (RAM); mass storage typically for more permanentstorage, such as optical discs, forms of magnetic storage like harddisks, tapes, drums, cards and other types; processor registers, cachememory, volatile memory, non-volatile memory; optical storage such asCD, DVD; removable media such as flash memory (e.g. USB sticks or keys),floppy disks, magnetic tape, paper tape, punch cards, standalone RAMdisks, Zip drives, removable mass storage, off-line, and the like, othercomputer memory such as dynamic memory, static memory, read/writestorage, mutable storage, read only, random access, sequential access,location addressable, file addressable, content addressable, networkattached storage, storage area network, bar codes, magnetic ink, and thelike.

The methods and systems described herein may transform physical and/orintangible items from one state to another. The methods and systemsdescribed herein may also transform data representing physical and/orintangible items from one state to another.

The elements described and depicted herein, including in flow charts andblock diagrams throughout the figures, imply logical boundaries betweenthe elements. However, according to software or hardware engineeringpractices, the depicted elements and the functions thereof may beimplemented on machines through computer executable media having aprocessor capable of executing program instructions stored thereon as amonolithic software structure, as standalone software modules, or asmodules that employ external routines, code, services, and so forth, orany combination of these, and all such implementations may be within thescope of the present disclosure. Examples of such machines may include,but may not be limited to, personal digital assistants, laptops,personal computers, mobile phones, other handheld computing devices,medical equipment, wired or wireless communication devices, transducers,chips, calculators, satellites, tablet PCs, electronic books, gadgets,electronic devices, devices having artificial intelligence, computingdevices, networking equipment, servers, routers, and the like.Furthermore, the elements depicted in the flow chart and block diagramsor any other logical component may be implemented on a machine capableof executing program instructions. Thus, while the foregoing drawingsand descriptions set forth functional aspects of the disclosed systems,no particular arrangement of software for implementing these functionalaspects should be inferred from these descriptions unless explicitlystated or otherwise clear from the context. Similarly, it will beappreciated that the various steps identified and described above may bevaried, and that the order of steps may be adapted to particularapplications of the techniques disclosed herein. All such variations andmodifications are intended to fall within the scope of this disclosure.As such, the depiction and/or description of an order for various stepsshould not be understood to require a particular order of execution forthose steps, unless required by a particular application, or explicitlystated or otherwise clear from the context.

The methods and/or processes described above, and steps associatedtherewith, may be realized in hardware, software or any combination ofhardware and software suitable for a particular application. Thehardware may include a general-purpose computer and/or dedicatedcomputing device or specific computing device or particular aspect orcomponent of a specific computing device. The processes may be realizedin one or more microprocessors, microcontrollers, embeddedmicrocontrollers, programmable digital signal processors or otherprogrammable devices, along with internal and/or external memory. Theprocesses may also, or instead, be embodied in an application specificintegrated circuit, a programmable gate array, programmable array logic,or any other device or combination of devices that may be configured toprocess electronic signals. It will further be appreciated that one ormore of the processes may be realized as a computer executable codecapable of being executed on a machine-readable medium.

The computer executable code may be created using a structuredprogramming language such as C, an object oriented programming languagesuch as C++, or any other high-level or low-level programming language(including assembly languages, hardware description languages, anddatabase programming languages and technologies) that may be stored,compiled or interpreted to run on one of the above devices, as well asheterogeneous combinations of processors, processor architectures, orcombinations of different hardware and software, or any other machinecapable of executing program instructions.

Thus, in one aspect, methods described above and combinations thereofmay be embodied in computer executable code that, when executing on oneor more computing devices, performs the steps thereof. In anotheraspect, the methods may be embodied in systems that perform the stepsthereof and may be distributed across devices in a number of ways, orall of the functionality may be integrated into a dedicated, standalonedevice or other hardware. In another aspect, the means for performingthe steps associated with the processes described above may include anyof the hardware and/or software described above. All such permutationsand combinations are intended to fall within the scope of the presentdisclosure.

While the disclosure has been disclosed in connection with the preferredembodiments shown and described in detail, various modifications andimprovements thereon will become readily apparent to those skilled inthe art. Accordingly, the spirit and scope of the present disclosure isnot to be limited by the foregoing examples, but is to be understood inthe broadest sense allowable by law.

The use of the terms “a” and “an” and “the” and similar referents in thecontext of describing the disclosure (especially in the context of thefollowing claims) is to be construed to cover both the singular and theplural unless otherwise indicated herein or clearly contradicted bycontext. The terms “comprising,” “having,” “including,” and “containing”are to be construed as open-ended terms (i.e., meaning “including, butnot limited to,”) unless otherwise noted. Recitations of ranges ofvalues herein are merely intended to serve as a shorthand method ofreferring individually to each separate value falling within the range,unless otherwise indicated herein, and each separate value isincorporated into the specification as if it were individually recitedherein. All methods described herein can be performed in any suitableorder unless otherwise indicated herein or otherwise clearlycontradicted by context. The use of any and all examples, or exemplarylanguage (e.g., “such as”) provided herein, is intended merely to betterilluminate the disclosure and does not pose a limitation on the scope ofthe disclosure unless otherwise claimed. No language in thespecification should be construed as indicating any non-claimed elementas essential to the practice of the disclosure.

While the foregoing written description enables one of ordinary skill tomake and use what is considered presently to be the best mode thereof,those of ordinary skill will understand and appreciate the existence ofvariations, combinations, and equivalents of the specific embodiment,method, and examples herein. The disclosure should therefore not belimited by the above described embodiment, method, and examples, but byall embodiments and methods within the scope and spirit of thedisclosure.

Any element in a claim that does not explicitly state “means for”performing a specified function, or “step for” performing a specifiedfunction, is not to be interpreted as a “means” or “step” clause asspecified in 35 U.S.C. § 112(f). In particular, any use of “step of inthe claims is not intended to invoke the provision of 35 U.S.C. §112(f).

Persons of ordinary skill in the art may appreciate that numerous designconfigurations may be possible to enjoy the functional benefits of theinventive systems. Thus, given the wide variety of configurations andarrangements of embodiments of the present invention the scope of theinvention is reflected by the breadth of the claims below rather thannarrowed by the embodiments described above.

What is claimed is:
 1. A system for monitoring firearms in a set offirearms, each of the firearms associated with a user in a set of users,the system comprising: a machine learning system; a sensory analysismodule that connects to the machine learning system and is configured toreceive data from inertial motion units of the firearms, the inertialmotion unit of a firearm of the set of firearms used to produce sensordata based on one or more of a gripping, movement, or discharge of thefirearm; a set of candidate intents generated by the machine learningsystem based at least a portion of the data from the inertial motionunits; and an action plan based on the set of candidate intentsgenerated by the machine learning system.
 2. The system of claim 1,wherein the action plan is in response to at least one of a change incondition of one of the users of the firearms, a change of state of oneof the firearms from the set of firearms, or a change of an environmentaround the set of firearms.
 3. The system of claim 1, wherein the actionplan is an inventory action plan indicating a need for ammunition basedon the discharge of the firearm.
 4. The system of claim 1, wherein theset of candidate intents is generated based on a determination that agrip of the firearm is engaged and that the firearm is pointed at atarget.
 5. The system of claim 1, wherein the machine learning systemlearns parameters of the sensor data to classify and identify events asrelating to the one or more of the gripping, movement, or discharge ofthe firearm.
 6. The system of claim 1, wherein the machine learningsystem receives input used to classify one or more of an environmentaround the set of firearms or an object located within the environment.7. The system of claim 1, wherein the machine learning system is trainedto detect a difference between celebratory fire and threatening fire. 8.The system of claim 1, wherein the sensory analysis module is furtherconfigured to receive the data from one or more multi-modal sensoryinputs from firearm usage tracking systems associated with the firearms,sensors that detect the users, and sensors that detect an environmentaround the set of firearms and the set of user.
 9. A system formonitoring firearms in a set of firearms, each of the firearmsassociated with a user in a set of users, the system comprising: amachine learning system including a machine control system that receivesmulti-modal sensory input; a sensory analysis module that processessensory data generated using the multi-modal sensory input to determinean action plan; and a control process module that receives the actionplan and generates control information for processing using a machinecontrol module for causing a change in a machine control scenario for arobotic user of a firearm of the set of firearms.
 10. The system ofclaim 9, wherein the control process module is a control schedulingprocess module.
 11. The system of claim 9, wherein the control processmodule is a real-time control process module.
 12. The system of claim 9,wherein the multi-modal sensory input is received based on an occurrenceof one of a pre-discharge event, a discharge event, or a post-dischargeevent.
 13. The system of claim 9, wherein the control informationrelates to a re-supply of ammunition based on fire rates measured basedon the multi-modal sensory input.
 14. The system of claim 9, wherein themulti-modal sensory input is received from one of more of a firearmusage tracking system associated with the firearms, a sensor thatdetects the robotic user, or a sensor that detects an environment aroundthe set of firearms or the robotic user.
 15. A system for monitoringfirearms in a set of firearms, each of the firearms associated with auser in a set of users, the system comprising: a machine learningsystem; a sensory analysis module that connects to the machine learningsystem and is configured to receive data from one or more sensorsassociated with one or more firearms of the set of firearms; a set ofcandidate intents generated by the machine learning system based atleast a portion of the data from the one or more sensors; and an actionplan based on the set of candidate intents generated by the machinelearning system, the action plan indicating a threat response determinedbased on an expected imminent discharge of a firearm of the set offirearms.
 16. The system of claim 15, wherein the one or more sensorsare sensors of a mesh network including the one or more firearms. 17.The system of claim 15, wherein the one or more sensors are wearablesensors worn by users of the one or more firearms.
 18. The system ofclaim 15, wherein the machine learning system generates the set ofcandidate intents based on at least the portion of the data and based ona firearm state for at least some of the one or more firearms.
 19. Thesystem of claim 15, wherein the machine learning system is configured toupdate the action plan in response to one or more of an intent, amachine state, or an environmental factor.
 20. The system of claim 15,wherein the data indicates a discharge of at least one firearm of theone or more firearms, wherein the machine learning system is trained todifferently detect the discharge as being one of celebratory fire orthreatening fire.